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询问动态点云地图 #3

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wt2excellent opened this issue Oct 11, 2024 · 3 comments
Open

询问动态点云地图 #3

wt2excellent opened this issue Oct 11, 2024 · 3 comments

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@wt2excellent
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您好呀，在Urban动态数据集上测试，这个动态点云为啥这么多呢？在只查看动态点云里程计的情况下。
image
@Eleonorabo
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请问一下您的点云是如何显示的呢？我使用的是SemanticKITTI数据集，运行后，rviz没有点云输出，想问一下您是怎么改的呀？

@RongguangWu
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您好呀，在Urban动态数据集上测试，这个动态点云为啥这么多呢？在只查看动态点云里程计的情况下。 image

整张地图都是如此吗，还是只有回环的这部分是这样的。开源的代码和论文用的代码并不相同，论文实验用的代码是附在一个大工程里面的。这个是我花了几天时间从中整理出来的，整理完我只在KITTI上测试了一下定量的指标，这个没测。

@RongguangWu
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请问一下您的点云是如何显示的呢？我使用的是SemanticKITTI数据集，运行后，rviz没有点云输出，想问一下您是怎么改的呀？

我默认好像是不发布地图的，因为那会比较卡，我记得我在yaml中有对应的开关。打开后你可能还需要拖动一下rviz找一找，地图并不一定是在原点附近的

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3 participants
@wt2excellent @RongguangWu @Eleonorabo